Warning #1: an issue has been found with Tower's Pause button which can cause the vehicle to fly to an old position if the vehicle has not sent a position update to Tower in some time.
Warning #2: Copter-3.3.2 fixes a bug found in Copter-3.3.1's desired climb rate initialisation which could lead to a sudden momentary drop when switching from Stabilize or Acro to AltHold, Loiter or PosHold.
Warning #3: Copter-3.3.2 fixes an issue found in Copter-3.3.1 which could lead to hard landings in RTL or AUTO if the WPNAV_SPEED_DN was set too high (i.e. >400 or 4m/s) and/or the WPNAV_ACCEL_Z was set too low (i.e. <100 or 1m/s/s).
Warning #4: a bug was found in Copter-3.3 which could cause a sudden crash if you abort a Take-off initiated from a ground station. Video description is here. The bug is fixed in Copter-3.3.1 so we recommend upgrading.
Note #1: AC3.3-rc8 corrected a long standing bug in the HDOP reporting. HDOP values will appear about 40% lower than previously but this does not actually mean the GPS position is better than before.
Note #2: if upgrading from AC3.2.1 the vehicle's accelerometer calibration needs to be done again.
Note #3: set SERIAL2_PROTOCOL to "3" and reboot the board to enable FrSky telemetry like in previous versions.
Note #4: the wiki will be updated over the next few weeks to explain how to use the new features
Copter-3.3.1 is available through the mission planner. The full list of changes vs AC3.2.1 can be see in the ReleaseNotes and below are the most recent changes since AC3.3.
Sadly this version (and all future versions) will not run on the APM2.x boards due to CPU speed, flash and RAM restrictions.
Changes from 3.3:
1) Bug fix to prevent potential crash if Follow-Me is used after an aborted takeoff
2) compiler upgraded to 4.9.3 (runs slightly faster than 4.7.2 which was used previously)
Changes from 3.3-rc11:
1) EKF recovers from pre-arm "Compass variance" failure if compasses are consistent
Changes from 3.3-rc10:
1) PreArm "Need 3D Fix" message replaced with detailed reason from EKF
Changes from 3.3-rc9
1) EKF improvements:
a) simpler optical flow takeoff check
2) Bug Fixes/Minor enhancements:
a) fix INS3_USE parameter eeprom location
b) fix SToRM32 serial protocol driver to work with recent versions
c) increase motor pwm->thrust conversion (aka MOT_THST_EXPO) to 0.65 (was 0.50)
d) Firmware version sent to GCS in AUTOPILOT_VERSION message
3) Safety:
a) pre-arm check of compass variance if arming in Loiter, PosHold, Guided
b) always check GPS before arming in Loiter (previously could be disabled if ARMING_CHECK=0)
c) sanity check locations received from GCS for follow-me, do-set-home, do-set-ROI
d) fix optical flow failsafe (was not always triggering LAND when optical flow failed)
e) failsafe RTL vs LAND decision based on hardcoded 5m from home check (previously used WPNAV_RADIUS parameter)
Thanks for your testing!
Replies
Hi Nathaniel,
The check box is set if mission planner sees your parameters are the same and unset if it sees they arn't.
Yes you can copy your values across to pitch if your copter is very nearly symmetrical. If not then don't. In any case be very careful the next time you take off to ensure your copter is safe to do autotune on. To do this you need to take off slowly and gradually work up to some hard pitch inputs.
Once you have done autotune once then it tends to be faster if you do it again.
Autotune aggressiveness tends to give better flight performance for lower values but better disturbance rejection at higher values. It also tends to be easier for Autotune to get a tune on higher aggressiveness setting (0.1) because this is also related to the noise of the copter. So many people can't do a good Autotune on 0.05 because there copter is too shaky. This is the main reason I made it a parameter.
Leonard,
Thank you for the explanation! There are so many little things like this that aren't well documented. It's nice when I can pick up a new piece to the puzzle so to say.
I completed the Pitch Autotune today with good results, but when I attempted to complete an Autotune on the Yaw axis I was unable (??) to complete the tune, it just appeared to stop. I posted a question later in the thread with the log attached. It appeared to stop but never gave an audible confirmation. Perhaps the movements were too small to see?
Regards,
Nathaniel ~KD2DEY
Hi Leonard!
A small idea - if auto-tuning apply shimmering sound:
1. In begin autotune;
2. At the end autotune;
3. Short sound when switching between autotune axis.
Yeah i would like this also. Using 3.2.1 there is no way to tell if autotune has finished successfully just by looking at the copter in the air (apart from it stopping, but that doesn't tell us if it succeeded or for whatever reason failed).
+1 this :)
Hi Aleksey and Johnex,
At the moment there is a single long tone after Autotune finishes and it also gives an audio message on the mission planner.
We could do a tone of some sort between axis but it is pretty clear that it has finished the axis because it starts another so I am not sure how much value that would have.
deleted.
Yaw on speed!
Hi Leonard,
I installed Copter 3.3rc5 today on one of my hexas (4S, 15'') and ran autotune. All went fine except the landing which ended in some crazy yaw movements before disarming. Stab Pitch P was a "little" high (18) and I reduced it to 9 which was the value for roll. When taking off for the first flight with the new PIDs the some crazy yaw movements showed up again. I reduced Stab Yaw P from 4.8 to 3.5.
Now everything seems ok. Yaw is very crisp (for a long endurance copter) and the copter flies perfect now! But I assume that the tuning was a little effected by some gusts. So I will try it again to check for the high Stab Pitch P.
The only thing that was scary were the yaw movements. Any idea? Do you want to check the logs?
Cheers,
Thorsten
Hi Thorsten,
A look at the logs would be great!!
Hi Leonard,
here they are. I hope they will be helpful. As always let me know if you want me to test some specific settings.
Some notes:
- Both logs show Brownout = Fail (most probably) due to drift in baro altitude.
- The Autotune test of the log analyzer reports NA. I guess it requires an update.
I also have another autotune form the flight directly before this autotune one. It ended just seconds before autotune would have been finished with some battery failsafe RTL...
Autotune.zip
PostAutotuneAdjusted.zip
Hi Thorsten,
I can't find any uncommanded yaw movements at the end of your autotune flight.
Could you have a look and highlight to me where you think they are.
Thanks,
Leonard
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